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loadrt [KINS]KINEMATICS | |
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS | |
loadrt pid num_chan=4 | |
loadrt hostmot2 | |
loadrt hm2_eth board_ip="10.10.10.10" config="num_stepgens=5 num_encoders=0 num_pwmgens=0" | |
# loadrt debounce cfg=12 | |
setp [MESA](CARD_0).watchdog.timeout_ns 5000000 | |
####################################### | |
# threads | |
addf [MESA](CARD_0).read servo-thread | |
addf motion-command-handler servo-thread | |
addf motion-controller servo-thread | |
addf pid.0.do-pid-calcs servo-thread | |
addf pid.1.do-pid-calcs servo-thread | |
addf pid.2.do-pid-calcs servo-thread | |
addf pid.3.do-pid-calcs servo-thread | |
# addf debounce.0 servo-thread | |
addf [MESA](CARD_0).write servo-thread | |
####################################### | |
# home/limit/probe | |
net x_home <= [MESA](CARD_0).gpio.031.in_not | |
net x_min <= [MESA](CARD_0).gpio.033.in_not | |
net x_max <= [MESA](CARD_0).gpio.032.in_not | |
net y1_home <= [MESA](CARD_0).gpio.028.in_not | |
net y1_min <= [MESA](CARD_0).gpio.030.in_not | |
net y1_max <= [MESA](CARD_0).gpio.029.in_not | |
net y2_home <= [MESA](CARD_0).gpio.025.in_not | |
net y2_min <= [MESA](CARD_0).gpio.027.in_not | |
net y2_max <= [MESA](CARD_0).gpio.026.in_not | |
net z_probe <= [MESA](CARD_0).gpio.023.in_not | |
net z_home <= [MESA](CARD_0).gpio.021.in_not | |
net t_home <= [MESA](CARD_0).gpio.019.in_not | |
# net in-min-x debounce.0.1.in <= [MESA](CARD_0).gpio.047.in | |
# net out-min-x debounce.0.1.out => joint.0.neg-lim-sw-in | |
####################################### | |
# joint 0 (X) | |
# pid | |
setp pid.0.Pgain [JOINT_0]P | |
setp pid.0.Igain [JOINT_0]I | |
setp pid.0.Dgain [JOINT_0]D | |
setp pid.0.bias [JOINT_0]BIAS | |
setp pid.0.FF0 [JOINT_0]FF0 | |
setp pid.0.FF1 [JOINT_0]FF1 | |
setp pid.0.FF2 [JOINT_0]FF2 | |
setp pid.0.deadband [JOINT_0]DEADBAND | |
setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT | |
setp pid.0.maxerror [JOINT_0]MAX_ERROR | |
setp pid.0.error-previous-target true | |
# enable | |
net joint-0-index-enable <=> pid.0.index-enable | |
net joint-0-enable <= joint.0.amp-enable-out | |
net joint-0-enable => pid.0.enable | |
net joint-0-enable => [JOINT_0](STEPGEN).enable | |
# stepgen | |
setp [JOINT_0](STEPGEN).dirsetup [DRIVER]DIRSETUP | |
setp [JOINT_0](STEPGEN).dirhold [DRIVER]DIRHOLD | |
setp [JOINT_0](STEPGEN).steplen [DRIVER]STEPLEN | |
setp [JOINT_0](STEPGEN).stepspace [DRIVER]STEPSPACE | |
setp [JOINT_0](STEPGEN).position-scale [DRIVER]SCALE | |
setp [JOINT_0](STEPGEN).maxvel [JOINT_0]STEPGEN_MAX_VELOCITY | |
setp [JOINT_0](STEPGEN).maxaccel [JOINT_0]STEPGEN_MAX_ACCELERATION | |
setp [JOINT_0](STEPGEN).step_type 0 | |
setp [JOINT_0](STEPGEN).control-type 1 | |
# feedback | |
net joint-0-pos-cmd <= joint.0.motor-pos-cmd | |
net joint-0-pos-cmd => pid.0.command | |
net joint-0-pos-fb <= [JOINT_0](STEPGEN).position-fb | |
net joint-0-pos-fb => joint.0.motor-pos-fb | |
net joint-0-pos-fb => pid.0.feedback | |
net joint.0.output <= pid.0.output | |
net joint.0.output => [JOINT_0](STEPGEN).velocity-cmd | |
# limit | |
net x_home => joint.0.home-sw-in | |
net x_min => joint.0.neg-lim-sw-in | |
net x_max => joint.0.pos-lim-sw-in | |
####################################### | |
# joint 1 (Y1) | |
# pid | |
setp pid.1.Pgain [JOINT_1]P | |
setp pid.1.Igain [JOINT_1]I | |
setp pid.1.Dgain [JOINT_1]D | |
setp pid.1.bias [JOINT_1]BIAS | |
setp pid.1.FF0 [JOINT_1]FF0 | |
setp pid.1.FF1 [JOINT_1]FF1 | |
setp pid.1.FF2 [JOINT_1]FF2 | |
setp pid.1.deadband [JOINT_1]DEADBAND | |
setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT | |
setp pid.1.maxerror [JOINT_1]MAX_ERROR | |
setp pid.1.error-previous-target true | |
# enable | |
net joint-1-index-enable <=> pid.1.index-enable | |
net joint-1-enable <= joint.1.amp-enable-out | |
net joint-1-enable => pid.1.enable | |
net joint-1-enable => [JOINT_1](STEPGEN).enable | |
# stepgen | |
setp [JOINT_1](STEPGEN).dirsetup [DRIVER]DIRSETUP | |
setp [JOINT_1](STEPGEN).dirhold [DRIVER]DIRHOLD | |
setp [JOINT_1](STEPGEN).steplen [DRIVER]STEPLEN | |
setp [JOINT_1](STEPGEN).stepspace [DRIVER]STEPSPACE | |
setp [JOINT_1](STEPGEN).position-scale [DRIVER]SCALE | |
setp [JOINT_1](STEPGEN).maxvel [JOINT_1]STEPGEN_MAX_VELOCITY | |
setp [JOINT_1](STEPGEN).maxaccel [JOINT_1]STEPGEN_MAX_ACCELERATION | |
setp [JOINT_1](STEPGEN).step_type 0 | |
setp [JOINT_1](STEPGEN).control-type 1 | |
# feedback | |
net joint-1-pos-cmd <= joint.1.motor-pos-cmd | |
net joint-1-pos-cmd => pid.1.command | |
net joint-1-pos-fb <= [JOINT_1](STEPGEN).position-fb | |
net joint-1-pos-fb => joint.1.motor-pos-fb | |
net joint-1-pos-fb => pid.1.feedback | |
net joint.1.output <= pid.1.output | |
net joint.1.output => [JOINT_1](STEPGEN).velocity-cmd | |
# limit | |
net y1_home => joint.1.home-sw-in | |
net y1_min => joint.1.neg-lim-sw-in | |
net y1_max => joint.1.pos-lim-sw-in | |
####################################### | |
# joint 2 (Y2) | |
# pid | |
setp pid.2.Pgain [JOINT_2]P | |
setp pid.2.Igain [JOINT_2]I | |
setp pid.2.Dgain [JOINT_2]D | |
setp pid.2.bias [JOINT_2]BIAS | |
setp pid.2.FF0 [JOINT_2]FF0 | |
setp pid.2.FF1 [JOINT_2]FF1 | |
setp pid.2.FF2 [JOINT_2]FF2 | |
setp pid.2.deadband [JOINT_2]DEADBAND | |
setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT | |
setp pid.2.maxerror [JOINT_2]MAX_ERROR | |
setp pid.2.error-previous-target true | |
# enable | |
net joint-2-index-enable <=> pid.2.index-enable | |
net joint-2-enable <= joint.2.amp-enable-out | |
net joint-2-enable => pid.2.enable | |
net joint-2-enable => [JOINT_2](STEPGEN).enable | |
# stepgen | |
setp [JOINT_2](STEPGEN).dirsetup [DRIVER]DIRSETUP | |
setp [JOINT_2](STEPGEN).dirhold [DRIVER]DIRHOLD | |
setp [JOINT_2](STEPGEN).steplen [DRIVER]STEPLEN | |
setp [JOINT_2](STEPGEN).stepspace [DRIVER]STEPSPACE | |
setp [JOINT_2](STEPGEN).position-scale [DRIVER]SCALE | |
setp [JOINT_2](STEPGEN).maxvel [JOINT_2]STEPGEN_MAX_VELOCITY | |
setp [JOINT_2](STEPGEN).maxaccel [JOINT_2]STEPGEN_MAX_ACCELERATION | |
setp [JOINT_2](STEPGEN).step_type 0 | |
setp [JOINT_2](STEPGEN).control-type 1 | |
# feedback | |
net joint-2-pos-cmd <= joint.2.motor-pos-cmd | |
net joint-2-pos-cmd => pid.2.command | |
net joint-2-pos-fb <= [JOINT_2](STEPGEN).position-fb | |
net joint-2-pos-fb => joint.2.motor-pos-fb | |
net joint-2-pos-fb => pid.2.feedback | |
net joint.2.output <= pid.2.output | |
net joint.2.output => [JOINT_2](STEPGEN).velocity-cmd | |
# limit | |
net y2_home => joint.2.home-sw-in | |
net y2_min => joint.2.neg-lim-sw-in | |
net y2_max => joint.2.pos-lim-sw-in | |
####################################### | |
# joint 3 (Z) | |
# pid | |
setp pid.3.Pgain [JOINT_3]P | |
setp pid.3.Igain [JOINT_3]I | |
setp pid.3.Dgain [JOINT_3]D | |
setp pid.3.bias [JOINT_3]BIAS | |
setp pid.3.FF0 [JOINT_3]FF0 | |
setp pid.3.FF1 [JOINT_3]FF1 | |
setp pid.3.FF2 [JOINT_3]FF2 | |
setp pid.3.deadband [JOINT_3]DEADBAND | |
setp pid.3.maxoutput [JOINT_3]MAX_OUTPUT | |
setp pid.3.maxerror [JOINT_3]MAX_ERROR | |
setp pid.3.error-previous-target true | |
# enable | |
net joint-3-index-enable <=> pid.3.index-enable | |
net joint-3-enable <= joint.3.amp-enable-out | |
net joint-3-enable => pid.3.enable | |
net joint-3-enable => [JOINT_3](STEPGEN).enable | |
# stepgen | |
setp [JOINT_3](STEPGEN).dirsetup [DRIVER]DIRSETUP | |
setp [JOINT_3](STEPGEN).dirhold [DRIVER]DIRHOLD | |
setp [JOINT_3](STEPGEN).steplen [DRIVER]STEPLEN | |
setp [JOINT_3](STEPGEN).stepspace [DRIVER]STEPSPACE | |
setp [JOINT_3](STEPGEN).position-scale [DRIVER]SCALE | |
setp [JOINT_3](STEPGEN).maxvel [JOINT_3]STEPGEN_MAX_VELOCITY | |
setp [JOINT_3](STEPGEN).maxaccel [JOINT_3]STEPGEN_MAX_ACCELERATION | |
setp [JOINT_3](STEPGEN).step_type 0 | |
setp [JOINT_3](STEPGEN).control-type 1 | |
# feedback | |
net joint-3-pos-cmd <= joint.3.motor-pos-cmd | |
net joint-3-pos-cmd => pid.3.command | |
net joint-3-pos-fb <= [JOINT_3](STEPGEN).position-fb | |
net joint-3-pos-fb => joint.3.motor-pos-fb | |
net joint-3-pos-fb => pid.3.feedback | |
net joint.3.output <= pid.3.output | |
net joint.3.output => [JOINT_3](STEPGEN).velocity-cmd | |
# limit | |
net z_home => joint.3.home-sw-in | |
####################################### | |
# spindle | |
####################################### | |
# halui | |
# emergency | |
net estop-out <= iocontrol.0.user-enable-out | |
net estop-out => iocontrol.0.emc-enable-in | |
#net machine-is-on halui.machine.is-on | |
#net machine-is-enabled <= motion.motion-enabled | |
#net estop-loopback iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out |
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[EMC] | |
VERSION = 1.1 | |
MACHINE = printnc | |
DEBUG = 0x00000000 | |
[MESA] | |
CARD_0 = hm2_7i92.0 | |
#FIRMWARE = 7i92_5ABOBx2D.bit | |
[DRIVER] | |
#STEPLEN = 10000 | |
#STEPSPACE = 10000 | |
#DIRHOLD = 10000 | |
#DIRSETUP = 10000 | |
STEPLEN = 5000 | |
STEPSPACE = 5000 | |
DIRHOLD = 5000 | |
DIRSETUP = 5000 | |
SCALE = 4000 | |
[DISPLAY] | |
DISPLAY = axis | |
#DISPLAY = gmoccapy | |
#DISPLAY = qtpyvcp | |
#DISPLAY = touchy | |
#DISPLAY = qtvcp qtdragon | |
#PREFERENCE_FILE_PATH = /home/tcurdt/linuxcnc/qtdragon.pref | |
PROGRAM_PREFIX = /home/tcurdt/linuxcnc/nc_files | |
POSITION_OFFSET = RELATIVE | |
POSITION_FEEDBACK = COMMANDED | |
MAX_FEED_OVERRIDE = 1.2 | |
MIN_VELOCITY = 0.0 | |
DEFAULT_LINEAR_VELOCITY = 20.0 | |
MAX_LINEAR_VELOCITY = 200.0 | |
CYCLE_TIME = 0.1 | |
INTRO_GRAPHIC = emc2.gif | |
INTRO_TIME = 0 | |
#PYVCP = vfd.xml | |
[KINS] | |
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH | |
JOINTS = 4 | |
[EMCIO] | |
EMCIO = iov2 | |
CYCLE_TIME = 0.100 | |
TOOL_TABLE = tool.tbl | |
#TOOL_CHANGE_POSITION = 0 0 2 | |
[RS274NGC] | |
PARAMETER_FILE = printnc.var | |
SUBROUTINE_PATH = /home/tcurdt/linuxcnc/subroutines | |
[EMCMOT] | |
EMCMOT = motmod | |
COMM_TIMEOUT = 1.0 | |
SERVO_PERIOD = 1000000 | |
[TASK] | |
TASK = milltask | |
CYCLE_TIME = 0.010 | |
[TRAJ] | |
COORDINATES = XYYZ | |
LINEAR_UNITS = mm | |
ANGULAR_UNITS = degree | |
NO_FORCE_HOMING = 1 | |
#DEFAULT_LINEAR_VELOCITY = 0.0167 | |
#DEFAULT_LINEAR_ACCELERATION = 2.0 | |
#MAX_LINEAR_VELOCITY = 5.0 | |
#MAX_LINEAR_ACCELERATION = 20.0 | |
#HOME = 0 0 0 0 0 0 0 0 0 | |
[HAL] | |
HALUI = halui | |
HALFILE = printnc.hal | |
#HALFILE = modbus.hal | |
#HALFILE = tool.hal | |
#HALFILE = probe.hal | |
#POSTGUI_HALFILE = vfd.hal | |
#SHUTDOWN = | |
[HALUI] | |
[AXIS_X] | |
MAX_VELOCITY = 50.0 | |
MAX_ACCELERATION = 50.0 | |
MIN_LIMIT = -10 | |
MAX_LIMIT = 1000 | |
[AXIS_Y] | |
MAX_VELOCITY = 50.0 | |
MAX_ACCELERATION = 50.0 | |
MIN_LIMIT = -10 | |
MAX_LIMIT = 800 | |
[AXIS_Z] | |
MAX_VELOCITY = 50.0 | |
MAX_ACCELERATION = 50.0 | |
MIN_LIMIT = -10 | |
MAX_LIMIT = 300 | |
[JOINT_0] | |
AXIS = X | |
TYPE = LINEAR | |
#BACKLASH = 0 | |
MAX_VELOCITY = 50.0 | |
MAX_ACCELERATION = 50.0 | |
MIN_LIMIT = -10 | |
MAX_LIMIT = 1000 | |
MIN_FERROR = 0.01 | |
FERROR = 1.0 | |
BIAS = 0 | |
P = 1000 | |
I = 0 | |
D = 0 | |
FF0 = 0 | |
FF1 = 1 | |
FF2 = 0 | |
DEADBAND = 0.000015 | |
MAX_OUTPUT = 0 | |
MAX_ERROR = 0.0127 | |
STEPGEN = hm2_7i92.0.stepgen.04 | |
STEPGEN_MAX_VELOCITY = 60.0 | |
STEPGEN_MAX_ACCELERATION = 60.0 | |
#HOME = 0.0 | |
#HOME_FINAL_VEL = 0.0 | |
HOME_OFFSET = 0 | |
HOME_SEARCH_VEL = 0 | |
HOME_LATCH_VEL = 0 | |
HOME_USE_INDEX = NO | |
#HOME_SEQUENCE = 1 | |
HOME_SEQUENCE = 0 | |
[JOINT_1] | |
AXIS = Y | |
TYPE = LINEAR | |
#BACKLASH = 0 | |
MAX_VELOCITY = 50.0 | |
MAX_ACCELERATION = 50.0 | |
MIN_LIMIT = -10 | |
MAX_LIMIT = 800 | |
MIN_FERROR = 0.01 | |
FERROR = 1.0 | |
BIAS = 0 | |
P = 1000 | |
I = 0 | |
D = 0 | |
FF0 = 0 | |
FF1 = 1 | |
FF2 = 0 | |
DEADBAND = 0.000015 | |
MAX_OUTPUT = 0 | |
MAX_ERROR = 0.0127 | |
STEPGEN = hm2_7i92.0.stepgen.03 | |
STEPGEN_MAX_VELOCITY = 60.0 | |
STEPGEN_MAX_ACCELERATION = 60.0 | |
#HOME = 0.0 | |
#HOME_FINAL_VEL = 0.0 | |
HOME_OFFSET = 0 | |
HOME_SEARCH_VEL = 0 | |
HOME_LATCH_VEL = 0 | |
HOME_USE_INDEX = NO | |
#HOME_SEQUENCE = -1 | |
HOME_SEQUENCE = 0 | |
[JOINT_2] | |
AXIS = Y | |
TYPE = LINEAR | |
#BACKLASH = 0 | |
MAX_VELOCITY = 50.0 | |
MAX_ACCELERATION = 50.0 | |
MIN_LIMIT = -10 | |
MAX_LIMIT = 800 | |
MIN_FERROR = 0.01 | |
FERROR = 1.0 | |
BIAS = 0 | |
P = 1000 | |
I = 0 | |
D = 0 | |
FF0 = 0 | |
FF1 = 1 | |
FF2 = 0 | |
DEADBAND = 0.000015 | |
MAX_OUTPUT = 0 | |
MAX_ERROR = 0.0127 | |
STEPGEN = hm2_7i92.0.stepgen.02 | |
STEPGEN_MAX_VELOCITY = 60.0 | |
STEPGEN_MAX_ACCELERATION = 60.0 | |
#HOME = 0.0 | |
#HOME_FINAL_VEL = 0.0 | |
HOME_OFFSET = 0 | |
HOME_SEARCH_VEL = 0 | |
HOME_LATCH_VEL = 0 | |
HOME_USE_INDEX = NO | |
#HOME_SEQUENCE = -1 | |
HOME_SEQUENCE = 0 | |
[JOINT_3] | |
AXIS = Z | |
TYPE = LINEAR | |
#BACKLASH = 0 | |
MAX_VELOCITY = 50.0 | |
MAX_ACCELERATION = 50.0 | |
MIN_LIMIT = -10 | |
MAX_LIMIT = 300 | |
MIN_FERROR = 0.01 | |
FERROR = 1.0 | |
BIAS = 0 | |
P = 1000 | |
I = 0 | |
D = 0 | |
FF0 = 0 | |
FF1 = 1 | |
FF2 = 0 | |
DEADBAND = 0.000015 | |
MAX_OUTPUT = 0 | |
MAX_ERROR = 0.0127 | |
STEPGEN = hm2_7i92.0.stepgen.01 | |
STEPGEN_MAX_VELOCITY = 60.0 | |
STEPGEN_MAX_ACCELERATION = 60.0 | |
#HOME = 0.0 | |
#HOME_FINAL_VEL = 0.0 | |
HOME_OFFSET = 0 | |
HOME_SEARCH_VEL = 0 | |
HOME_LATCH_VEL = 0 | |
HOME_USE_INDEX = NO | |
HOME_SEQUENCE = 0 |
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$ mesaflash --device 7i92 --addr 10.10.10.10 --readhmid | |
Configuration Name: HOSTMOT2 | |
General configuration information: | |
BoardName : MESA7I92 | |
FPGA Size: 9 KGates | |
FPGA Pins: 144 | |
Number of IO Ports: 2 | |
Width of one I/O port: 17 | |
Clock Low frequency: 100.0000 MHz | |
Clock High frequency: 200.0000 MHz | |
IDROM Type: 3 | |
Instance Stride 0: 4 | |
Instance Stride 1: 64 | |
Register Stride 0: 256 | |
Register Stride 1: 256 | |
Modules in configuration: | |
Module: DPLL | |
There are 1 of DPLL in configuration | |
Version: 0 | |
Registers: 7 | |
BaseAddress: 7000 | |
ClockFrequency: 100.000 MHz | |
Register Stride: 256 bytes | |
Instance Stride: 4 bytes | |
Module: WatchDog | |
There are 1 of WatchDog in configuration | |
Version: 0 | |
Registers: 3 | |
BaseAddress: 0C00 | |
ClockFrequency: 100.000 MHz | |
Register Stride: 256 bytes | |
Instance Stride: 4 bytes | |
Module: IOPort | |
There are 2 of IOPort in configuration | |
Version: 0 | |
Registers: 5 | |
BaseAddress: 1000 | |
ClockFrequency: 100.000 MHz | |
Register Stride: 256 bytes | |
Instance Stride: 4 bytes | |
Module: QCount | |
There are 6 of QCount in configuration | |
Version: 2 | |
Registers: 5 | |
BaseAddress: 3000 | |
ClockFrequency: 100.000 MHz | |
Register Stride: 256 bytes | |
Instance Stride: 4 bytes | |
Module: StepGen | |
There are 5 of StepGen in configuration | |
Version: 2 | |
Registers: 10 | |
BaseAddress: 2000 | |
ClockFrequency: 100.000 MHz | |
Register Stride: 256 bytes | |
Instance Stride: 4 bytes | |
Module: PWM | |
There are 1 of PWM in configuration | |
Version: 0 | |
Registers: 5 | |
BaseAddress: 4100 | |
ClockFrequency: 200.000 MHz | |
Register Stride: 256 bytes | |
Instance Stride: 4 bytes | |
Module: LED | |
There are 1 of LED in configuration | |
Version: 0 | |
Registers: 1 | |
BaseAddress: 0200 | |
ClockFrequency: 100.000 MHz | |
Register Stride: 256 bytes | |
Instance Stride: 4 bytes | |
Configuration pin-out: | |
IO Connections for P2 | |
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir | |
1 0 IOPort PWM 0 PWM (Out) | |
14 1 IOPort None | |
2 2 IOPort StepGen 0 Step/Table1 (Out) | |
15 3 IOPort None | |
3 4 IOPort StepGen 0 Dir/Table2 (Out) | |
16 5 IOPort StepGen 4 Step/Table1 (Out) | |
4 6 IOPort StepGen 1 Step/Table1 (Out) | |
17 7 IOPort StepGen 4 Dir/Table2 (Out) | |
5 8 IOPort StepGen 1 Dir/Table2 (Out) | |
6 9 IOPort StepGen 2 Step/Table1 (Out) | |
7 10 IOPort StepGen 2 Dir/Table2 (Out) | |
8 11 IOPort StepGen 3 Step/Table1 (Out) | |
9 12 IOPort StepGen 3 Dir/Table2 (Out) | |
10 13 IOPort None | |
11 14 IOPort QCount 0 Quad-A (In) | |
12 15 IOPort QCount 0 Quad-B (In) | |
13 16 IOPort QCount 0 Quad-IDX (In) | |
IO Connections for P1 | |
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir | |
1 17 IOPort QCount 1 Quad-A (In) | |
14 18 IOPort QCount 1 Quad-B (In) | |
2 19 IOPort QCount 1 Quad-IDX (In) | |
15 20 IOPort QCount 2 Quad-A (In) | |
3 21 IOPort QCount 2 Quad-B (In) | |
16 22 IOPort QCount 2 Quad-IDX (In) | |
4 23 IOPort QCount 3 Quad-A (In) | |
17 24 IOPort QCount 3 Quad-B (In) | |
5 25 IOPort QCount 3 Quad-IDX (In) | |
6 26 IOPort QCount 4 Quad-A (In) | |
7 27 IOPort QCount 4 Quad-B (In) | |
8 28 IOPort QCount 4 Quad-IDX (In) | |
9 29 IOPort QCount 5 Quad-A (In) | |
10 30 IOPort QCount 5 Quad-B (In) | |
11 31 IOPort QCount 5 Quad-IDX (In) | |
12 32 IOPort None | |
13 33 IOPort None |
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stepgen00 (T1) | |
stp=io02 | |
dir=io04 | |
stepgen01 (Z1) | |
stp=io06 | |
dir=io08 | |
stepgen02 (Y2) | |
stp=io09 | |
dir=io10 | |
stepgen03 (Y1) | |
stp=io11 | |
dir=io12 | |
stepgen04 (X1) | |
stp=io05 | |
dir=io07 |
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